# Difference between revisions of "Software"

From MLSwiki

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==== Tar files ==== | ==== Tar files ==== | ||

− | * | + | * {{MLS ftp|screws.tar}} - contains source code, documentation, and examples for Screws.m and RobotLinks.m (tar file, 128K). |

− | * | + | * {{MLS ftp|examples.tar}} - Mathematica source code for most of the examples in the book (tar file, 48K). |

− | ==== | + | ==== Individual files ==== |

− | * Screws.m | + | * {{MLS ftp|Screws.m}} - A package for basic screw calculus in R^3. |

− | * RobotLinks.m | + | * {{MLS ftp|RobotLinks.m}} - Calculate kinematic functions for robots (using Screws.m). |

− | * Jac.m | + | * {{MLS ftp|Jac.m}} - simple function for computing Jacobian matrices for nonlinear maps. |

− | * SCARA | + | * {{MLS ftp|SCARA.m}} - Forward kinematics for a 4 DOF SCARA manipulator (requires Screws.m) |

− | * Elbow | + | * {{MLS ftp|Elbow.m}} - Forward kinematics for a 6 DOF Elbow manipulator (requires Screws.m) |

* More examples: Individual examples from the book | * More examples: Individual examples from the book | ||

==== Documentation ==== | ==== Documentation ==== | ||

− | * Brief overview on the use of these packages (PDF, 4 pages). | + | * [[Media:screws-overview.pdf|Brief overview]] on the use of these packages (PDF, 4 pages). |

− | * Reference manual: PDF (10 pages) or HTML (not yet available). | + | * [[Media:screws-reference.pdf|Reference manual]]: PDF (10 pages) or HTML (not yet available). |

## Latest revision as of 21:49, 2 November 2009

This page contains information on software that can be used to perform some of the analysis described in *A Mathematical Introduction to Robotic Manipulation*.

### Mathematica

Two Mathematica packages have been written which implement many of the calculations described in MLS. These packages are available free of charge using the links below. **This software does not work with the latest version of Mathematica.** The software will be updated along with the second edition of the text.

#### Tar files

- screws.tar - contains source code, documentation, and examples for Screws.m and RobotLinks.m (tar file, 128K).
- examples.tar - Mathematica source code for most of the examples in the book (tar file, 48K).

#### Individual files

- Screws.m - A package for basic screw calculus in R^3.
- RobotLinks.m - Calculate kinematic functions for robots (using Screws.m).
- Jac.m - simple function for computing Jacobian matrices for nonlinear maps.
- SCARA.m - Forward kinematics for a 4 DOF SCARA manipulator (requires Screws.m)
- Elbow.m - Forward kinematics for a 6 DOF Elbow manipulator (requires Screws.m)
- More examples: Individual examples from the book

#### Documentation

- Brief overview on the use of these packages (PDF, 4 pages).
- Reference manual: PDF (10 pages) or HTML (not yet available).